The ballista, or
"shield piercer," was first developed by the Greeks using the same
principles as a bow and arrow. Its primary use was to, as the
name suggests, pierce enemy shields, since normal bows lacked the power
to do so. Early versions of the ballista include the
gastrophetes, which is nothing more than an enlarged bow that can be
braced against the users body.
http://members.lycos.nl/onager/GastrophetesPic.jpg
As time went on ballistas were improved to become larger and more
powerful, eventually becoming mounted mechanisms that could be operated
by two or more people. The Romans eventually modified them to
throw stones, making them more effective in seiges against walled towns.